I am currently working with ROS and is about to implement behavior tree to control all the actions flow. I ran into the problem when I tried to register my placement function with PlanningSceneInterface as a reference.

BT::BehaviorTreeFactory factory; factory.registerSimpleAction( "ObjectsPlacement", std::bind(&Motions::objectsPlacement, planningsceneinterface));

no suitable user-defined conversion from "std::Bind<BT::NodeStatus (Motions::*(moveit::planninginterface::PlanningSceneInterface))(moveit::planninginterface::PlanningSceneInterface &planningscene)>" to "const BT::SimpleActionNode::TickFunctor" existsC/C++(312)

How can I initialize the objectsPlacement function if it triggered by tick()?

How does tick_functor actually work?